Gripper for grabbing and releasing battery cell

Abstract

The utility model relates to the technical field of battery cell grabbing and releasing, in particular to a grabbing hand for battery cell grabbing and releasing, which comprises a mounting plate, a single-row and double-row clamping mechanism and an anti-falling mechanism, the mounting plate is mounted at the execution tail end of a robot for connection, the single-row and double-row clamping mechanism and the anti-falling mechanism are both mounted on one side of the mounting plate far away from the robot, and the single-row and double-row clamping mechanism is connected with the anti-falling mechanism. The multiple single-row and double-row clamping mechanisms are arranged in parallel in the width direction of the mounting plate, and the anti-falling mechanisms are arranged between the adjacent single-row and double-row clamping mechanisms. The utility model provides a gripper for gripping and releasing a battery cell, which is simple in structural design, meets the requirements of single-row and double-row wire mixing and full-blue-blue full compatibility, and has an anti-falling function.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of electric core grabbing and placing, particularly relates to a gripper for electric core grabbing and placing. BACKGROUND

[0002] The battery module assembly process usually involves a small unit grouping process, that is, two electric core small faces are butt-jointed to form a group. In the small unit grouping process, an electric core gripper is needed for grabbing and discharging. Currently, the commonly used electric core gripper adopts parallel air cylinders to clamp the top and bottom surfaces of the electric core. When discharging, a rotating mechanism needs to be added to turn the electric core by 90°, resulting in a complex structure design. At the same time, since the top of the grabbed electric core needs to avoid the explosion-proof valve, the gripper has poor compatibility and cannot achieve single and double row mixed wiring and full blueprint full compatibility. In addition, the existing electric core gripper does not have a drop prevention design, resulting in a risk of accidental falling during electric core transfer. SUMMARY

[0003] The technical problem to be solved by the utility model is to overcome the deficiencies in the prior art and provide a gripper for electric core grabbing and placing, which has a simple structure design, meets the requirements of single and double row mixed wiring and full blueprint full compatibility, and has a drop prevention function.

[0004] The utility model adopts the technical scheme that a gripper for electric core grabbing and placing comprises a mounting plate, a single and double row clamping mechanism, and a drop prevention mechanism. The mounting plate is connected to the execution end of a robot. The single and double row clamping mechanism and the drop prevention mechanism are both installed on the side of the mounting plate away from the robot. The single and double row clamping mechanism comprises a plurality of components arranged in parallel along the width direction of the mounting plate. The drop prevention mechanism is arranged between adjacent single and double row clamping mechanisms.

[0005] Further, the single and double row clamping mechanism comprises a reference assembly, a double row movable assembly, a single row movable assembly, a double row driving assembly, and a single row driving assembly. The reference assembly is installed in the middle of the mounting plate. The double row movable assembly and the single row movable assembly are both connected to the mounting plate in a sliding manner. The reference assembly is arranged between the double row movable assembly and the single row movable assembly. The double row driving assembly is installed on the mounting plate and used to drive the double row movable assembly to move closer to or farther away from the reference assembly. The single row driving assembly is installed on the mounting plate and used to drive the single row movable assembly to move closer to or farther away from the reference assembly.

[0006] Further, the reference assembly comprises a reference seat and a reference block. The reference seat is installed on the mounting plate. The reference block is installed at the end of the reference seat away from the mounting plate.

[0007] Further, the double row movable assembly and the single row movable assembly both comprise a movable seat and a movable block. The movable seat is installed on the mounting plate in a sliding manner. The movable block is installed at the end of the movable seat away from the mounting plate.

[0008] Further, the single-double row clamping mechanism further comprises a buffer and a limiting bolt, the buffer is installed on the mounting plate and is used for buffering the movement of the double-row movable assembly and the single-row movable assembly, and the limiting bolt is installed on the mounting plate and is used for mechanically limiting the double-row movable assembly and the single-row movable assembly.

[0009] Further, the anti-falling mechanism comprises a sliding plate, a suction assembly, a distance adjusting assembly and a positioning assembly, the sliding plate is slidably connected with the mounting plate, the suction assembly is slidably installed on the side, away from the mounting plate, of the sliding plate, the suction assembly is in two groups and is oppositely arranged, the distance adjusting assembly is installed on the side, away from the mounting plate, of the sliding plate and is used for adjusting the distance between the two groups of suction assemblies, and the positioning assembly is installed on the sliding plate and is used for positioning the position of the sliding plate.

[0010] Further, the suction assembly comprises a support, a suction plate and a suction nozzle, the suction plate is connected with the sliding plate through the support, the support is slidably connected with the sliding plate, and the suction nozzle is installed on the side, close to the single-double row clamping mechanism, of the suction plate.

[0011] Further, the distance adjusting assembly comprises a rotating piece, a rotating shaft, a connecting rod and a cam, the rotating piece is installed in the middle of the mounting plate, one end of the rotating shaft is connected with the output end of the rotating piece, the other end of the rotating shaft is connected with the middle of the connecting rod, the cams are respectively installed at the two ends of the connecting rod, the cams are embedded in the recesses formed in the suction plate and are in rolling engagement with the recesses.

[0012] Further, the positioning assembly comprises a sliding shaft, a tooth block, an elastic piece and a rack, the sliding shaft is slidably penetrated through the sliding plate, the tooth block is installed at the end of the sliding shaft, close to the mounting plate, the elastic piece is sleeved on the sliding shaft, one end of the elastic piece is in abutment with the sliding plate, the other end of the elastic piece is in abutment with the tooth block, the rack is installed on the mounting plate and extends along the length direction of the mounting plate, and the tooth block is in engagement with the rack.

[0013] Further, the anti-falling mechanism further comprises a displacement assembly, the displacement assembly comprises a steel ruler and a pointer, the steel ruler is installed on the mounting plate, the pointer is installed on the sliding plate, and the steel ruler corresponds to the pointer.

[0014] The single-double row clamping mechanism is arranged to realize the grabbing of the electric core from the small face of the electric core and to realize the grabbing of the single-double row electric core, so that the compatible demand of the full blue and the single-double row mixed line can be met.

[0015] (1) The single-double row clamping mechanism is arranged to realize the grabbing of the electric core from the small face of the electric core and to realize the grabbing of the single-double row electric core, so that the compatible demand of the full blue and the single-double row mixed line can be met.

[0016] (2) The utility model discloses a buffer is set to the double -row movable assembly and single -row movable assembly of stroke end buffering, avoid the collision, and the setting of limit bolt carries out mechanical limit to the stroke of double -row movable assembly and single -row movable assembly.

[0017] (3) The utility model discloses the setting of displacement component realizes the accurate positioning of anti -drop mechanism on the mounting panel. BRIEF DESCRIPTION OF DRAWINGS

[0018] The utility model is further illustrated below in connection with the drawings and implementation.

[0019] Figure 1 It is the structural schematic diagram of the utility model;

[0020] Figure 2 It is the schematic diagram of single -double row clamping mechanism in the utility model;

[0021] Figure 3 It is the schematic diagram of steel ruler in the utility model;

[0022] Figure 4 It is the schematic diagram of anti -drop mechanism in the utility model;

[0023] Figure 5 It is the schematic diagram of recess in the utility model;

[0024] Figure 6 It is the schematic diagram of pitch adjusting assembly in the utility model;

[0025] Figure 7 It is the schematic diagram of installation in the utility model on robot.

[0026] In the drawing: 100, mounting panel;200, single -double row clamping mechanism;210, reference component;211, reference seat;212, reference block;220, double -row movable assembly;221, movable seat;222, movable block;230, single -row movable assembly;240, double -row drive assembly;250, single -row drive assembly;260, buffer;270, limit bolt;300, anti -drop mechanism;310, sliding plate;320, adsorption component;321, support;322, sucking plate;3221, recess;323, suction nozzle;330, pitch adjusting assembly;331, rotating piece;332, pivot;333, connecting rod;334, cam;340, positioning assembly;341, sliding shaft;342, tooth block;343, elastic piece;344, rack;350, displacement component;351, steel ruler;352, pointer. DETAILED DESCRIPTION

[0027] The utility model will be further described in connection with the drawings. These drawings are all simplified schematic diagrams which only schematically show the basic structure of the utility model, and thus only show the components related to the utility model.

[0028] As shown in Figure 1 and Figure 7 A kind of electric core grab and release gripper, including mounting plate 100, single-double row clamping mechanism 200 and anti-falling mechanism 300, mounting plate 100 is installed in the execution end connection of robot, single-double row clamping mechanism 200 and anti-falling mechanism 300 are all installed in the side of mounting plate 100 away from robot, single-double row clamping mechanism 200 is multiple, it is arranged in parallel along the width direction of mounting plate 100, anti-falling mechanism 300 is arranged between adjacent single-double row clamping mechanism 200.Specifically, single-double row clamping mechanism 200 is two.

[0029] Through the setting of single-double row clamping mechanism 200, the electric core is grabbed from electric core facet, and the single-double row electric core can be grabbed, so as to meet the compatible demand of full blue and single-double row mixed line;Combining the setting of anti-falling mechanism 300 simultaneously, the accidental falling of electric core in transfer process is avoided, and the stability of the adhesion between double-row electric core is guaranteed.

[0030] As shown in Figure 2 Single-double row clamping mechanism 200 includes reference assembly 210, double-row movable assembly 220, single-row movable assembly 230, double-row drive assembly 240 and single-row drive assembly 250, reference assembly 210 is installed in the middle part of mounting plate 100, double-row movable assembly 220 and single-row movable assembly 230 are slidably connected with mounting plate 100 respectively, reference assembly 210 is arranged between double-row movable assembly 220 and single-row movable assembly 230, double-row drive assembly 240 is installed on mounting plate 100, for driving double-row movable assembly 220 to be close to or away from reference assembly 210, single-row drive assembly 250 is installed on mounting plate 100, for driving single-row movable assembly 230 to be close to or away from reference assembly 210.Specifically, double-row drive assembly 240 and single-row drive assembly 250 can adopt cylinder.

[0031] Double-row drive assembly 240 drives double-row movable assembly 220 to be close to or away from reference assembly 210, realizes the grabbing and discharging of double-row electric core, and can solve the compatible demand of double-row electric core;While cooperating with single-row drive assembly 250 to drive single-row movable assembly 230 to be close to or away from reference assembly 210, the grabbing and discharging of single-row electric core are realized simultaneously, and the mixed line compatible demand of single-double row electric core can be solved.

[0032] As shown in Figure 2 and Figure 3As shown in

[0033] As shown in Figure 2 and Figure 3 As shown in

[0034] As shown in Figure 3 As shown in

[0035] As shown in Figure 1 and Figure 2 As shown in

[0036] In operation, the positioning slide plate 310 is adjusted on the mounting plate 100 by the positioning assembly 340 so that the suction assembly 320 can adapt to double-row battery cells of different blueprints; the distance between the two groups of suction assemblies 320 is adjusted by the distance adjusting assembly 330 so that the suction assembly 320 contacts the double-row battery cells and completes suction.

[0037] As shown in Figure 2 and Figure 4 , the suction assembly 320 includes a bracket 321, a suction plate 322 and a suction nozzle 323, the suction plate 322 is connected to the slide plate 310 through the bracket 321, the bracket 321 is slidingly connected to the slide plate 310, and the suction nozzle 323 is installed on one side of the suction plate 322 close to the single-double row clamping mechanism 200. Specifically, the suction nozzle 323 is in an array on the suction plate 322; the suction plate 322 is connected to a vacuum device (not shown in the figure).

[0038] As shown in Figure 2 , Figures 3-6 , the distance adjusting assembly 330 includes a rotating piece 331, a rotating shaft 332, a connecting rod 333 and a cam 334, the rotating piece 331 is installed in the middle of the mounting plate 100, one end of the rotating shaft 332 is connected to the output end of the rotating piece 331, the other end of the rotating shaft 332 is connected to the middle of the connecting rod 333, and the cam 334 is installed at both ends of the connecting rod 333. The cam 334 is embedded in the groove 3221 opened in the suction plate 322 and is in rolling engagement with the groove 3221. Specifically, the rotating piece 331 can adopt a rotary air cylinder.

[0039] When the double-row battery cells are suctioned, the rotating piece 331 drives the connecting rod 333 to rotate through the rotating shaft 332, and then the cam 334 rolls in the groove 3221, forcing the two suction plates 322 to move away from each other until the suction nozzles 323 contact the battery cells, and then the suction is completed.

[0040] As shown in Figures 2-4 , the positioning assembly 340 includes a slide shaft 341, a tooth block 342, an elastic member 343 and a rack 344, the slide shaft 341 slidingly penetrates the slide plate 310, the tooth block 342 is installed at one end of the slide shaft 341 close to the mounting plate 100, the elastic member 343 is sleeved on the slide shaft 341, one end of the elastic member 343 abuts against the slide plate 310, the other end of the elastic member 343 abuts against the tooth block 342, and the rack 344 is installed on the mounting plate 100 and extends along the length direction of the mounting plate 100. The tooth block 342 is in engagement with the rack 344. Specifically, the elastic member 343 can adopt a spring.

[0041] When the position of the anti-falling mechanism 300 needs to be adjusted, the slide shaft 341 is pulled so that the tooth block 342 and the gear rack 344 are disengaged, then the slide plate 310 is pushed until the anti-falling mechanism 300 moves to the predetermined position, finally the slide shaft 341 is released, and the tooth block 342 and the gear rack 344 are engaged again under the action of the elastic member 343, thereby completing the positioning of the slide plate 310.

[0042] As shown in Figures 2-4 The anti-falling mechanism 300 further comprises a displacement assembly 350, the displacement assembly 350 comprises a steel ruler 351 and a pointer 352, the steel ruler 351 is installed on the mounting plate 100, the pointer 352 is installed on the slide plate 310, and the steel ruler 351 corresponds to the pointer 352. Through the arrangement of the displacement assembly 350, the accurate positioning of the anti-falling mechanism 300 on the mounting plate 100 is realized.

[0043] In work, the double-row driving assembly 240 drives the double-row movable assembly 220 to be close to or away from the reference assembly 210, so that the double-row battery cell is grabbed and discharged; at the same time, the single-row driving assembly 250 drives the single-row movable assembly 230 to be close to or away from the reference assembly 210, so that the single-row and double-row battery cells are grabbed and discharged; and the adjustment of the polarity of the battery cell can be realized by the posture rotation of the robot.

[0044] The above-mentioned embodiments are only for illustrating the technical concept and characteristics of the utility model, and the purpose is to enable persons skilled in the art to understand the content of the utility model and implement it, and cannot limit the protection scope of the utility model, and equivalent changes or modifications according to the spirit and essence of the utility model should be covered in the protection scope of the utility model.

Claims

1. A gripper for picking and placing a battery cell, characterized by: The device comprises a mounting plate (100), single-double-row clamping mechanisms (200) and anti-falling mechanisms (300), the mounting plate (100) is mounted on the execution end of the robot, the single-double-row clamping mechanisms (200) and the anti-falling mechanisms (300) are mounted on the side of the mounting plate (100) away from the robot, the single-double-row clamping mechanisms (200) are arranged in parallel along the width direction of the mounting plate (100), and the anti-falling mechanisms (300) are arranged between adjacent single-double-row clamping mechanisms (200).

2. The cell gripping tongs of claim 1, wherein: The single-double-row clamping mechanism (200) comprises a reference assembly (210), a double-row movable assembly (220), a single-row movable assembly (230), a double-row driving assembly (240) and a single-row driving assembly (250), the reference assembly (210) is mounted on the middle part of the mounting plate (100), the double-row movable assembly (220) and the single-row movable assembly (230) are respectively connected with the mounting plate (100) in a sliding mode, the reference assembly (210) is arranged between the double-row movable assembly (220) and the single-row movable assembly (230), the double-row driving assembly (240) is mounted on the mounting plate (100) and used for driving the double-row movable assembly (220) to move close to or away from the reference assembly (210), and the single-row driving assembly (250) is mounted on the mounting plate (100) and used for driving the single-row movable assembly (230) to move close to or away from the reference assembly (210).

3. The cell gripping device according to claim 2, characterized in that: The reference assembly (210) comprises a reference seat (211) and a reference block (212), the reference seat (211) is mounted on the mounting plate (100), and the reference block (212) is mounted on the end of the reference seat (211) away from the mounting plate (100).

4. The cell gripping device of claim 2, wherein: The double-row movable assembly (220) and the single-row movable assembly (230) both comprise a movable seat (221) and a movable block (222), the movable seat (221) is slidably mounted on the mounting plate (100), and the movable block (222) is mounted on the end of the movable seat (221) away from the mounting plate (100).

5. The cell gripping device of claim 2, wherein: The single-double-row clamping mechanism (200) further comprises a buffer (260) and a limiting bolt (270), the buffer (260) is mounted on the mounting plate (100) and used for buffering the movement of the double-row movable assembly (220) and the single-row movable assembly (230), and the limiting bolt (270) is mounted on the mounting plate (100) and used for mechanically limiting the double-row movable assembly (220) and the single-row movable assembly (230).

6. The cell gripping hand of claim 1, wherein: The anti-falling mechanism (300) comprises a sliding plate (310), an adsorption assembly (320), a distance adjusting assembly (330) and a positioning assembly (340), the sliding plate (310) is slidably connected with the mounting plate (100), the adsorption assembly (320) is slidably mounted on the side of the sliding plate (310) away from the mounting plate (100), the adsorption assembly (320) is provided in two groups and oppositely arranged, the distance adjusting assembly (330) is mounted on the side of the sliding plate (310) away from the mounting plate (100) and used for adjusting the distance between the two groups of adsorption assemblies (320), and the positioning assembly (340) is mounted on the sliding plate (310) and used for positioning the position of the sliding plate (310).

7. The cell gripping device of claim 6, wherein: The adsorption assembly (320) comprises a support (321), a suction plate (322) and a suction nozzle (323), the suction plate (322) is connected with the sliding plate (310) through the support (321), the support (321) is slidably connected with the sliding plate (310), and the suction nozzle (323) is mounted on the side of the suction plate (322) close to the single-double row clamping mechanism (200).

8. The cell gripping device of claim 7, wherein: The distance adjusting assembly (330) comprises a rotating part (331), a rotating shaft (332), a connecting rod (333) and a cam (334), the rotating part (331) is mounted in the middle of the mounting plate (100), one end of the rotating shaft (332) is connected with the output end of the rotating part (331), the other end of the rotating shaft (332) is connected with the middle of the connecting rod (333), the cams (334) are respectively mounted on the two ends of the connecting rod (333), the cams (334) are embedded in the grooves (3221) of the suction plate (322) and rollingly fit with the grooves (3221).

9. The cell gripping device of claim 6, wherein: The positioning assembly (340) comprises a sliding shaft (341), a tooth block (342), an elastic part (343) and a rack (344), the sliding shaft (341) slidably penetrates through the sliding plate (310), the tooth block (342) is mounted on the end of the sliding shaft (341) close to the mounting plate (100), the elastic part (343) is sleeved on the sliding shaft (341), one end of the elastic part (343) abuts against the sliding plate (310), the other end of the elastic part (343) abuts against the tooth block (342), the rack (344) is mounted on the mounting plate (100) and extends along the length direction of the mounting plate (100), and the tooth block (342) is engaged with the rack (344).

10. The cell gripping device of claim 6, wherein: The anti-falling mechanism (300) further comprises a displacement assembly (350), the displacement assembly (350) comprises a steel ruler (351) and a pointer (352), the steel ruler (351) is mounted on the mounting plate (100), the pointer (352) is mounted on the sliding plate (310), and the steel ruler (351) corresponds to the pointer (352).

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